Empennage anti-pinch control method and device, controller, medium, product and vehicle

Abstract

The invention relates to an empennage anti-pinch control method and device, a controller, a medium, a product and a vehicle. Operation parameters of an empennage are obtained; in the descending operation process of the empennage, a target operation interval where the empennage is located currently is determined from the multiple operation intervals for the empennage; and determining whether to trigger an anti-pinch function or not according to the anti-pinch judgment condition and the operation parameter corresponding to the target operation interval. The stroke range of the tail wing descending operation process is divided into a plurality of operation intervals, and anti-pinch judgment conditions corresponding to the operation intervals are set, so that the sensitivity of triggering the anti-pinch function in the operation intervals is adjusted, and the sensitivity of triggering the anti-pinch function in the operation intervals is adjusted by combining operation parameters of the tail wing and the anti-pinch judgment conditions of the operation intervals. The anti-pinch function triggering capability with different sensitivities can be realized in different operation intervals, so that the accuracy of triggering the anti-pinch function is improved, meanwhile, the safety in the descending operation process of the empennage is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a rear wing anti-pinch control method, device, controller, medium, product and vehicle. Background Art

[0002] With the development of vehicle electrification and intelligence, vehicles are equipped with a retractable rear wing to stabilize the body and reduce the drag coefficient.

[0003] However, when the rear wing of a vehicle is lowered, there is a risk of clamping an object. However, due to the complexity of the clamped object and various factors such as the structure of the rear wing itself, the existing rear wing anti-pinch control method has the problem of low accuracy in triggering the anti-pinch function. Summary of the invention

[0004] The embodiments of the present application provide a tail wing anti-pinch control method, device, controller, storage medium, computer program product and vehicle, which divide the travel range of the tail wing's descent operation process into multiple operating intervals, and set anti-pinch judgment conditions corresponding to each operating interval to adjust the sensitivity of triggering the anti-pinch function in the operating interval, so that in combination with the operating parameters of the tail wing and the anti-pinch judgment conditions of each operating interval, it is possible to achieve anti-pinch function triggering capabilities with different sensitivities in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail wing's descent operation process and improving the user experience.

[0005] The embodiment of the present application provides a rear wing anti-pinch control method, comprising:

[0006] Get the operating parameters of the tail;

[0007] During the descent operation of the tail wing, determining a target operation interval in which the tail wing is currently located from a plurality of operation intervals for the tail wing;

[0008] Whether to trigger the anti-pinch function is determined according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters.

[0009] Accordingly, an embodiment of the present application provides a rear wing anti-pinch control device, comprising:

[0010] An operating parameter acquisition module is used to obtain operating parameters of the tail;

[0011] a target operation interval determination module, configured to determine, during the descent operation of the tail wing, from a plurality of operation intervals for the tail wing, a target operation interval in which the tail wing is currently located;

[0012] The anti-pinch control module is used to determine whether to trigger the anti-pinch function according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters.

[0013] In addition, an embodiment of the present application also provides a controller, including one or more processors and a memory, the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the tail wing anti-pinch control method provided in the embodiment of the present application.

[0014] In addition, an embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program. When the computer program runs on a controller, the computer program is used to enable the controller to execute any one of the tail wing anti-pinch control methods provided in the embodiments of the present application.

[0015] In addition, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any of the tail wing anti-pinch control methods provided in the embodiments of the present application.

[0016] In addition, an embodiment of the present application further provides a vehicle, including a rear wing and a controller, wherein the controller controls the rear wing by executing the above-mentioned rear wing anti-pinch control method.

[0017] In the embodiment of the present application, the operating parameters of the tail are obtained; during the descent operation of the tail, the target operating interval in which the tail is currently located is determined from multiple operating intervals for the tail; and whether to trigger the anti-pinch function is determined according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. The travel range of the tail descent operation process is divided into multiple operating intervals, and the anti-pinch judgment conditions corresponding to each operating interval are set to adjust the sensitivity of triggering the anti-pinch function in the operating interval, so that in combination with the operating parameters of the tail and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail descent operation process and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of an implementation environment scenario of the tail wing anti-pinch control method provided in an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of a process of a tail wing anti-pinch control method provided by an embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of a scenario of a tail wing anti-pinch control method provided by an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of the change of the tail current during normal descent in the tail anti-pinch control method provided by one embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the change of the tail current that triggers anti-pinch in the tail anti-pinch control method provided by one embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the force applied to the motor when the tail wing is clamped to an object in the tail wing anti-pinch control method provided in one embodiment of the present application;

[0025] Figure 7 It is a flow chart of an electric tail wing anti-pinch control system of a tail wing anti-pinch control method provided by an embodiment of the present application;

[0026] Figure 8 It is a schematic diagram of a process of a tail wing anti-pinch control method provided by an embodiment of the present application;

[0027] Fig. 9 is a schematic structural diagram of a tail wing anti-pinch control device provided by an embodiment of the present application;

[0028] Fig.10 It is a schematic diagram of the structure of a controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0030] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0031] The embodiment of the present application provides a rear wing anti-pinch control method, device, controller, storage medium, computer program product and vehicle. The rear wing anti-pinch control device can be integrated in a controller, which can be a server or a terminal.

[0032] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0033] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0034] See also Figure 1 , taking the tail wing anti-pinch control device integrated into the controller as an example, Figure 1 A schematic diagram of the implementation scenario of the tail anti-pinch control method provided in the embodiment of the present application, wherein the controller can be a terminal device, which obtains the operating parameters of the tail; during the descent operation of the tail, determines the target operating interval in which the tail is currently located from multiple operating intervals for the tail; and determines whether to trigger the anti-pinch function based on the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. By dividing the travel range of the tail descent operation process into multiple operating intervals, and setting the anti-pinch judgment conditions corresponding to each operating interval, the sensitivity of triggering the anti-pinch function in the operating interval is adjusted, so that in combination with the operating parameters of the tail and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail descent operation process and improving the user experience.

[0035] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the rear wing anti-pinch control method shown is only an example. The implementation environment scenario of the rear wing anti-pinch control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0036] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0037] This embodiment will be described from the perspective of a rear wing anti-pinch control device, which may be integrated into a controller, and the controller may be a terminal and / or a server, which is not limited in this application.

[0038] See also Figure 2 , Figure 2 : is a flow chart of a rear wing anti-pinch control method provided by an embodiment of the present application. The rear wing anti-pinch control method may include the following steps S101 to S103:

[0039] S101, obtaining operating parameters of the tail wing.

[0040] Among them, the tail wing is a device installed at the rear of the vehicle. It can be used for appearance decoration, body stabilization, and reducing wind resistance coefficient.

[0041] It should be noted that the tail wing includes a fixed tail wing and a lifting tail wing. The fixed tail wing is used for appearance decoration. The lifting tail wing is used for appearance decoration, stabilizing the vehicle body, and reducing the wind resistance coefficient. The tail wing mentioned in the embodiments of the present application is a lifting tail wing.

[0042] The lifting tail wing is mainly an electric tail wing, which controls the lifting process of the tail wing by using a motor. Therefore, the tail wing mentioned in the embodiment of the present application belongs to an opening and closing component of a vehicle.

[0043] The operating parameters refer to the parameters related to the operation of the tail wing, which can be adjusted according to the actual situation. The operating parameters may include the current, motor speed, and motor rotor position of the motor when the tail wing is in operation. The operating parameters may also include the operating position of the tail wing when it is in operation.

[0044] S102: During the descent operation of the tail wing, determine a target operation range in which the tail wing is currently located from a plurality of operation ranges for the tail wing.

[0045] The operation range is used to indicate an operation range in the range of the tail wing's descending operation process. The target operation range is used to indicate the operation range where the tail wing's current position is located during the descending operation process.

[0046] The number of operating intervals can be adjusted according to actual conditions, and the embodiments of the present application do not limit this. For example, if the travel range of the tail wing's descending operation process is divided into two operating travel ranges, the number of operating intervals is 2. For another example, if the travel range of the tail wing's descending operation process is divided into three operating travel ranges, the number of operating intervals is 3.

[0047] For example, see Figure 3 , Figure 3The schematic diagram is a division diagram of the travel range of the tail wing's descending operation process. The travel range of the tail wing's descending operation process is divided into an upper anti-pinch function range and a lower anti-pinch function range, that is, the travel range of the tail wing's descending operation process is divided into two operation travel ranges.

[0048] S103: Determine whether to trigger the anti-pinch function according to the anti-pinch judgment condition and the operating parameters corresponding to the target operating range.

[0049] Among them, the anti-pinch judgment condition is used to indicate the anti-pinch control logic of the corresponding operating range.

[0050] The anti-pinch judgment condition is a configured anti-pinch control logic set on the tail wing for each operating range to adjust the sensitivity of the anti-pinch function triggered in the operating range.

[0051] The specific anti-pinch judgment conditions can be set according to the number of operating intervals and the characteristics of the operating intervals (such as height, the possibility of clamping foreign objects, factors affecting the accuracy of triggering the anti-pinch function, etc.), and the embodiments of the present application are not limited.

[0052] Among them, if the collected operating parameters meet the anti-pinch judgment conditions corresponding to the target operating range, the anti-pinch function is triggered, otherwise the anti-pinch function is not triggered.

[0053] It can be seen that the tail anti-pinch control method provided in the embodiment of the present application obtains the operating parameters of the tail; during the descent operation of the tail, determines the target operating interval in which the tail is currently located from multiple operating intervals for the tail; and determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. By dividing the travel range of the tail descent operation process into multiple operating intervals, and setting the anti-pinch judgment conditions corresponding to each operating interval, the sensitivity of triggering the anti-pinch function in the operating interval is adjusted, so that in combination with the operating parameters of the tail and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail descent operation process and improving the user experience.

[0054] It should be noted that during the descent of the tail wing, there is an inevitable risk of foreign objects being caught. However, not all electric tail wings on existing vehicles have an anti-clip function. Even if they do, the anti-clip control of the electric tail wing is mainly achieved by current judgment. The current judgment method is mainly to judge when the motor is running and the current increases to exceed a certain threshold. It is considered that the motor is experiencing a large resistance during operation. At this time, it should be a state of being caught by an object, and the anti-clip function needs to be triggered. Then the control system controls the motor to stop or reverse to protect the person or object being caught, as well as the tail wing, from damage.

[0055] Research has found that most existing electric tail wings use a hinge mechanism to drag the tail wing. The electric tail wing has a change in vertical angle when it is fully descending. At the same time, the material and style of the electric tail wing panel that contacts the clamped object vary greatly in different models. This introduces two major difficulties for the electric tail wing to be equipped with an anti-pinch function:

[0056] First: the hinge mechanism of the electric tail wing has an uneven resistance level during operation, and there are structural points with higher resistance and lower resistance. When the tail wing is in operation, it switches between structural points with unequal resistance levels, which will cause changes in the driving current of the electric tail wing motor and the speed of the electric tail wing. When using the mainstream current monitoring anti-pinch algorithm, when the hinge resistance increases, the control system may judge that the motor has entered a foreign object clamping state with increased current, and mistakenly trigger the anti-pinch function.

[0057] Second: the electric tail wing panel is made of plastic or lightweight metal, and its surface is relatively soft. When the tail wing is closed and clamped to an object or a human hand, the softness of the tail wing panel material will unload part of the clamping reaction force, causing the control system to think that the tail wing is not in a sufficient state to trigger the anti-pinch function. The anti-pinch function is only triggered after clamping for a period of time, which manifests as a large anti-pinch force, difficulty in triggering the anti-pinch function, or no anti-pinch function when the tail wing is close to the bottom plate.

[0058] To this end, the embodiment of the present application divides the travel range of the tail wing's descent operation process into multiple operating intervals, and sets anti-pinch judgment conditions corresponding to each operating interval to adjust the sensitivity of triggering the anti-pinch function in the operating interval, so that by combining the tail wing's operating parameters and the anti-pinch judgment conditions of each operating interval, it is possible to achieve anti-pinch function triggering capabilities with different sensitivities in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail wing's descent operation process and improving the user experience.

[0059] In some embodiments, the above-mentioned operation range includes at least a first operation range and a second operation range, and the travel of the tail wing in the first operation range is before the travel of the tail wing in the second operation range.

[0060] The first operation interval indicates an upper operation range in the range of the tail wing's descending operation process, and the second operation interval indicates a lower operation range in the range of the tail wing's descending operation process.

[0061] For example, see Figure 3 , the first operation interval is Figure 3 The upper anti-pinch function range shown in the figure, the second operating range is Figure 3 The lower anti-pinch function range is shown.

[0062] In some embodiments, the travel of the tail wing in the first operating range and the travel of the tail wing in the second operating range can be adjusted according to actual conditions, and the embodiments of the present application do not limit this.

[0063] For example, the travel of the tail wing in the first operating range is equal to the travel of the tail wing in the second operating range. For another example, the travel of the tail wing in the first operating range is shorter than the travel of the tail wing in the second operating range. For another example, the travel of the tail wing in the first operating range is longer than the travel of the tail wing in the second operating range.

[0064] For example, see Figure 3 , the first operation interval is Figure 3 The upper anti-pinch function range shown in the figure, the second operating range is Figure 3 The lower anti-pinch function range is shown. The upper anti-pinch function range is longer.

[0065] The travel range of the tail wing's descent operation process is divided into two sections, the upper section is longer, and a current limiting algorithm is used to deal with the problem of sudden changes in operating resistance while preventing foreign objects from being clamped, thereby preventing the anti-pinch function from being triggered inadvertently. The lower section is close to the bottom plate and is shorter. A more sensitive and easier to trigger anti-pinch control algorithm is used in this section to deal with situations where hands or fingers may be clamped, thereby improving the accuracy of triggering the anti-pinch function and improving safety during the tail wing's descent operation, thereby improving user experience.

[0066] In some embodiments, the operating parameters include current and motor speed, and the target operating range is the first operating range.

[0067] The current is used to indicate the operating current of the motor of the tail wing when the tail wing is in the first operating interval during the tail wing descent operation.

[0068] The motor speed is used to indicate the speed of the motor of the tail wing when the tail wing descends in the first operation interval.

[0069] Based on this, the above process of determining whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating range may include: determining whether the change in current meets the first anti-pinch judgment condition; and determining whether the current and / or motor speed meets the second anti-pinch judgment condition; if both the first anti-pinch judgment condition and the second anti-pinch judgment condition are met, it is determined that the anti-pinch function is triggered.

[0070] The first anti-pinch judgment condition is used to indicate a condition for performing an anti-pinch judgment based on a change in current in the first operating range.

[0071] The second anti-pinch determination condition is used to indicate a condition for performing an anti-pinch determination based on the current and / or the motor speed in the first operating range.

[0072] In some embodiments, the first anti-pinch judgment condition includes that the duration of the current being greater than the current threshold is not less than a first preset duration.

[0073] The first preset duration is used to indicate a minimum duration during which the current is greater than the current threshold when it is considered that the tail wing is clamped by a foreign object.

[0074] The first preset duration can be set according to actual conditions, and the embodiment of the present application does not limit it. For example, the first preset duration is 50 milliseconds. For another example, the first preset duration is 80 milliseconds.

[0075] Specifically, when the control system (which can also be understood as a controller) continuously monitors the operating current I of the tail motor during operation, and compares the current I with the current threshold I1. If the control system continuously monitors that the current I is greater than the current threshold I1 for a period of time (i.e., the first preset duration), it is considered that the tail clamps a foreign object at this time, causing the motor running resistance to continuously increase. At the same time, it is necessary to further determine whether the anti-pinch function needs to be triggered in combination with the second anti-pinch judgment condition. If the duration of the current greater than the current threshold is less than the first preset duration, it means that the tail clamps a foreign object during the descent operation, or the tail has uneven resistance and the resistance increases, causing the current to rise. At this time, the current will suddenly increase, but it does not meet the condition of continuous current increase for a period of time. At this time, the tail will not trigger the anti-pinch function to avoid the problem of accidentally touching the anti-pinch.

[0076] It should be noted that if Figure 4 As shown in FIG. 1 , when the tail is normally closed (i.e., during the normal descent of the tail), although the current fluctuates, there is no continuous and significant increase. Figure 5 As shown, when the tail wing clamps an object, the current starts to increase continuously at the moment of clamping the object, which is very different from the ups and downs trend during normal operation.

[0077] The current threshold refers to the current value of the motor when the tail wing is descending in the first operation range and it is determined that the motor is operating abnormally.

[0078] In some embodiments, the current threshold is determined based on the anti-pinch force value.

[0079] The anti-pinch force value refers to the force value required to safely stop or reverse the tail wing when it is clamped by foreign objects during the tail wing's descent operation to prevent damage to the tail wing. The anti-pinch force value includes but is not limited to the anti-pinch force value and the anti-pinch reaction force value.

[0080] It should be noted that the anti-pinch force value is a pre-set parameter based on the anti-pinch function standard.

[0081] Specifically, the current threshold I1 is obtained by automatically calculating the predetermined anti-pinch force value input into the control system according to the anti-pinch function standard.

[0082] Combination Figure 6 Determining the current threshold value is explained.

[0083] The torque balance equation of the motor can be expressed as follows:

[0084]

[0085] Where J is the moment of inertia, C t is the torque constant, Φ is the magnetic flux, and these values ​​are fixed. n is the speed of the motor rotor, usually in angular velocity. dn and dt are the derivatives of the angular velocity with time, that is, the acceleration. i indicates the current. T is the motor output torque, T load is the load torque, and the difference between the two is the acceleration generated by the motor's electric drive force. When the motor is in a stable operating state, the motor is considered to be running at a constant speed, and the acceleration is close to 0. If the motor clamps a foreign object during operation (i.e., during the tail descent operation), the load torque changes. Assume that the set anti-clamping reaction force value of the motor is T * In order to maintain steady-state operation, the motor maintains a constant speed by default. The relationship between the anti-pinch reaction force value and the current threshold can be determined by combining the above formula (1) with the following formula (2):

[0086]

[0087] If the given T * The reaction torque is 80N*m. * Substituting into the above, we can calculate i based on the motor torque balance model. * The value of i * +i load The value is the reference value of the trigger current threshold I1, and I1 can be adjusted in actual application according to the reference value.

[0088] It should be noted that the operation of the motor complies with the basic laws of mechanics. When the motor runs at a constant speed, the speed remains unchanged, and the acceleration is 0. Therefore, there is no acceleration involved in the calculation in formula (2).

[0089] In some embodiments, the second anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the first current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the first speed change threshold.

[0090] The first current change threshold is used to indicate that the tail wing is in the first operating range, and the current change threshold is collected at adjacent moments when the motor is abnormally operated. The first speed change threshold is used to indicate that the tail wing is in the first operating range, and the motor is abnormally operated, and the motor speed change threshold is collected at adjacent moments.

[0091] Specifically, the first current change threshold can be calculated according to the formula (2) above: * The first speed change threshold can be determined by the instantaneous speed calculated in the following formula (3):

[0092] V * =(E2-E1) / n (3)

[0093] Among them, the first position value recorded by the motor position sensor is E1, the second position value is E2, the sensor collection time interval is n, V * Used to indicate the instantaneous speed of the motor.

[0094] The control system continuously monitors and calculates the instantaneous speed of the motor during all-time periods when the tail wing is descending. If the instantaneous speed at the anti-pinch judgment moment is lower than the instantaneous speed before the judgment to a certain extent, for example, lower than 70% of the speed before the judgment (an optimal value), it is considered that the motor has encountered sufficiently large resistance to cause the speed to slow down, which is used as a condition for anti-pinch judgment.

[0095] Specifically, the second anti-pinch judgment condition is whether the absolute value of the increase in current collected at adjacent moments is greater than the first current change threshold, and whether the absolute value of the decrease in motor speed determined at adjacent moments is greater than the first speed change threshold.

[0096] In some embodiments, the above process of determining whether the current and / or motor speed meets the second anti-pinch judgment condition may include: when the change in current meets the first anti-pinch judgment condition, determining whether the current and / or motor speed meets the second anti-pinch judgment condition.

[0097] Specifically, under the condition that it has been confirmed that I is greater than I1 continuously monitored for a period of time, it is judged whether the absolute value of the next collected current increase is greater than the first current change threshold, and whether the absolute value of the motor speed reduction is greater than the first speed change threshold. If both conditions are met at the same time, it is considered that the tail wing has indeed clamped a foreign object and the anti-pinch function needs to be triggered.

[0098] In some embodiments, the operating parameters include current and motor speed, and the target operating range is the second operating range.

[0099] The current is used to indicate the operating current of the motor of the tail wing when the tail wing descends in the second operating interval.

[0100] The motor speed is used to indicate the speed of the motor of the tail wing when the tail wing descends in the second operation interval.

[0101] Based on this, the process of determining whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating range may include: determining whether the current and / or motor speed meets the third anti-pinch judgment condition; if the third anti-pinch judgment condition is met, determining to trigger the anti-pinch function.

[0102] The third anti-pinch determination condition is used to indicate a condition for performing an anti-pinch determination based on the current and / or the motor speed in the second operating range.

[0103] Specifically, the third anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the second current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the second speed change threshold.

[0104] The second current change threshold is used to indicate that the tail wing is in the second operating range, and the current change threshold collected at adjacent moments when the motor is abnormally operated is determined. The second speed change threshold is used to indicate that the tail wing is in the second operating range, and the motor is abnormally operated is determined, and the motor speed change threshold is collected at adjacent moments.

[0105] Specifically, in the second operating range, it is directly determined whether the absolute value of the next collected current increase is greater than the second current change threshold, and whether the absolute value of the motor speed decrease is greater than the second speed change threshold. If both conditions are met at the same time, it is considered that the tail wing has indeed clamped a foreign object and the anti-pinch function needs to be triggered.

[0106] It should be noted that in the second operating range, it is not determined whether the current increases continuously within a period of time. It is directly determined whether the absolute value of the next current increase collected is greater than the second current change threshold, and whether the absolute value of the motor speed reduction is greater than the second speed change threshold. If both conditions are met at the same time, it is considered that the tail wing has indeed clamped a foreign object, and the anti-pinch function needs to be triggered. The tail wing stops or reverses to ensure that the tail wing does not clamp a foreign object. The above-mentioned second operating range mainly deals with the situation of clamping the human body (such as fingers), so the anti-pinch function needs to be sensitive enough. In the second operating range, in order to prevent the false anti-pinch situation caused by the change of hinge stress, the anti-pinch is mainly judged by the change of the tail wing descent speed, and the current change condition is used as a supplementary condition.

[0107] Optionally, the reference value of the second current change threshold value can be calculated according to the formula (2) above: *The second speed change threshold can be determined by calculating the instantaneous speed calculated in the above formula (3). The control system continuously monitors and calculates the instantaneous speed of the motor during the entire period of time when the tail wing is descending. If the instantaneous speed at the anti-pinch judgment moment is lower than the instantaneous speed before the judgment by a certain degree, for example, lower than 80% or 90% (another preferred value) of the speed before the judgment, it is considered that the motor has encountered a sufficiently large resistance, resulting in a slow speed, which is used as a condition for anti-pinch judgment.

[0108] In some embodiments, the operating parameters include current and motor speed.

[0109] The current here is used to indicate the operating current of the tail motor during the entire process of tail wing descent. The motor speed is used to indicate the speed of the tail motor during the entire process of tail wing descent.

[0110] The above-mentioned tail wing anti-pinch control method also includes: during the descending operation of the tail wing, if the motor speed is less than the speed threshold and the duration of the current not being 0 is not less than a second preset duration, triggering the anti-pinch function.

[0111] The speed threshold is used to indicate a speed value approaching 0.

[0112] Specifically, when the tail wing is in the full stroke position of the descent operation, the control system monitors the changes in the motor speed. When the tail wing operating position is greater than 0, and the tail wing speed is lower than a certain value (close to 0) and the operating current is not 0, the judgment conditions are met at the same time for more than a period of time, and the tail wing is considered to be in operation and blocked. At this time, the current change is not judged, and the anti-pinch function is directly triggered to avoid damage to the motor.

[0113] In some embodiments, the process of determining the current target operating interval of the tail wing from multiple operating intervals for the tail wing during the descent operation of the tail wing includes: during the descent operation of the tail wing, based on the current operating position of the tail wing and the position ranges corresponding to the multiple operating intervals of the tail wing, determining the current target operating interval of the tail wing.

[0114] The operating position is used to indicate the current position of the tail during the tail's descent operation.

[0115] The operating position can be detected and calculated by sensors. For example, the Hall motor relies on the rotor position change detected by the Hall sensor to record the motor operating position, and the ripple motor relies on the current ripple signal to record and convert the motor operating position.

[0116] It should be noted that the full range of the tail motor's operation, K, is also calculated from the instantaneous position recorded by the motor position sensor, which is generally a range value. The current operating position M of the electric tail is the instantaneous position value of the motor detected at each recorded time point when the motor is running, which is the same as the collection method of E1 and E2 in the above formula (3). When the electric tail is operating normally, M should increase or decrease within the range of 0-K.

[0117] Specifically, when the electric tail wing is descending, the change in the motor rotor position M of the electric tail wing is used to identify whether the electric tail wing is descending. For example, when the electric tail wing is fully raised, it is at the maximum travel position K or close to the position K, and M is approximately equal to K. When the electric tail wing descends, the value of M changes and begins to decrease gradually. When the tail wing is completely dropped to the bottom, M is close to the 0 position. The control system collects the position value M and compares it with the set travel range segmentation condition B. Take the operation mode of the first operating interval as an example: when the tail wing starts to descend from the highest point, it first runs in the first operating interval. In this interval, the angle between the tail wing and the bottom plate is large, and the risk of clamping human hands and limbs is low. It mainly deals with the situation of clamping foreign objects. This interval is large, and it is necessary to deal with the problem of false triggering of anti-pinch caused by the unbalanced resistance of the tail wing transmission mechanism. At this time, the control system determines that if M is greater than or equal to B, that is, M is in the KB interval (that is, if Figure 3 The anti-pinch function range is shown in the upper section), and the anti-pinch control system determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters of the first operating range.

[0118] In some embodiments, the anti-pinch function is used to control the tail wing to perform a stop action or a reverse action.

[0119] It should be noted that the anti-pinch function can be adjusted according to actual conditions and is not limited in the embodiments of the present application.

[0120] Combination Figure 3 , the following is an explanation with a specific embodiment. For details, please refer to Figure 7 , Figure 7It is an electric tail anti-pinch control system provided by the embodiment of the present application, that is, a control system or an anti-pinch control system. The input signals of the electric tail anti-pinch control system include the operating current signal I (i.e. current) of the electric tail drive motor, the speed signal V (i.e. motor speed), the operating range K of the electric tail, and the current operating position M of the electric tail, as well as the trigger current threshold I1 (i.e. current threshold) in the two anti-pinch modes of the electric tail, the current change threshold conditions ΔI1 (i.e. the first current change threshold) and ΔI2 (i.e. the second current change threshold), the speed change conditions ΔV1 (i.e. the first speed change threshold) and ΔV2 (i.e. the second speed change threshold). Among them, the operating current signal of the motor and the current position of the tail are obtained by the motor controller and the sensor collection, the speed signal is obtained by the position signal conversion, and the trigger current threshold, the current change threshold, and the speed change threshold are obtained by theoretical calculation. The output signal of the system is the judgment of whether to execute the anti-pinch function. The control system collects the position value M and compares it with the set travel range segmentation condition J. If the control system determines that M is greater than or equal to J, that is, M is in the KJ interval (the upper anti-pinch function interval), the anti-pinch control system performs the function according to the high interval mode 1. The electric tail anti-pinch control system continuously monitors the motor running current signal I and compares it with the trigger current threshold I1. If the control system continuously monitors that I is greater than I1 for a period of time (for example, within s milliseconds), it is considered that the tail is clamped by a foreign object, causing the motor running resistance to increase continuously. It is necessary to further determine whether the anti-pinch function needs to be triggered. If it is not satisfied that I is greater than I1 continuously for a period of time, it means that the tail is clamped by a foreign object, or the tail has uneven resistance and the resistance increases, causing the current to rise. At this time, the current will suddenly increase, but it does not meet the condition of continuous current increase for a period of time. At this time, the tail will not trigger the anti-pinch function to avoid the problem of accidentally touching the anti-pinch. After confirming that I is greater than I1 for a period of time, determine whether the absolute value of the next current increase is greater than the current change threshold condition ΔI1, and whether the absolute value of the motor speed reduction is greater than the speed change condition ΔV1. If both conditions are met, it is considered that the tail wing has indeed clamped a foreign object, and the anti-pinch function needs to be triggered. The tail wing stops or reverses to ensure that the tail wing does not clamp a foreign object. The control system determines that if M is less than or equal to J, that is, M is in the J-0 interval (the lower anti-pinch function interval), the anti-pinch control system performs the function according to the low interval mode 2. This interval is close to the bottom plate of the tail wing, which is a high-risk area that is very easy to clamp a hand or limb. The anti-pinch function in this area needs to be sensitive and reliable.In low-interval mode 2, it is not determined whether the current increases continuously within a period of time. It is directly determined whether the absolute value of the next current increase collected is greater than the current change threshold condition ΔI2, and whether the absolute value of the motor speed reduction is greater than the speed change condition ΔV2. If both conditions are met at the same time, it is considered that the tail wing has indeed clamped a foreign object, and the anti-pinch function needs to be triggered. The tail wing stops or reverses to ensure that the tail wing does not clamp a foreign object.

[0121] When the tail wing is descending, the operating range is divided into two sections according to the stroke. The upper section is longer. Under the premise of preventing foreign objects from being clamped, the current limiting algorithm is used to deal with the problem of sudden changes in operating resistance and prevent the anti-pinch function from being triggered by mistake. The lower section is close to the bottom plate and the interval is shorter. In this section, a more sensitive and easier to trigger anti-pinch control algorithm is used to deal with the possibility of pinching hands or fingers. Combining the operating parameters of the tail wing and the anti-pinch judgment conditions of each operating range, it is possible to achieve the anti-pinch function triggering capability with different sensitivities in different operating ranges, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail wing during the descent operation and improving the user experience.

[0122] Combination Figure 7 , the following is an explanation with a specific embodiment. For details, please refer to Figure 8 , Figure 8 is a flow chart of a tail wing anti-pinch control method provided in an embodiment of the present application, combined with Figure 8 It can be known that the tail anti-pinch control method provided by the embodiment of the present application may include the following steps: input the parameters (such as current, motor speed, and operating position) obtained by calculation and measurement. In the whole process, the current and motor speed are detected. When the tail speed is lower than a certain value (close to 0) and the judgment condition that the operating current is not 0 is satisfied for more than a period of time, it is considered that the tail is in operation and blocked. At this time, the current change is not judged, and the anti-pinch function is directly triggered to avoid motor damage. Otherwise, it is considered that the speed is normal, and the corresponding anti-pinch judgment condition is executed according to the operating interval where the motor is located. The operating interval where the motor is located includes high interval mode 1 (i.e., the first operating interval) and low interval mode 2 (i.e., the second operating interval). In high interval mode 1, when the current is continuously monitored to be greater than the current threshold value for a period of time, it is judged whether the absolute value of the increase in the next current collected is greater than the first current change threshold value, and whether the absolute value of the reduction in the motor speed is greater than the first speed change threshold value, if the above conditions are met, the anti-pinch function is triggered, otherwise the anti-pinch function is not triggered. In low interval mode 2, it is directly determined whether the absolute value of the next collected current increase is greater than the second current change threshold, and whether the absolute value of the motor speed reduction is greater than the second speed change threshold. If the above conditions are met, the anti-pinch function is triggered, otherwise the anti-pinch function is not triggered.

[0123] The above-mentioned embodiments ensure that the anti-pinch function in the upper anti-pinch function range is stable, and when the anti-pinch function is triggered, the anti-pinch reaction force is balanced and consistent, and the probability of false triggering of the anti-pinch function is extremely low. In addition, the anti-pinch function in the lower anti-pinch function range is ensured to have high sensitivity, and the anti-pinch function triggering capability with different sensitivities can be achieved in different operating ranges, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety during the tail wing descent operation and improving the user experience.

[0124] In order to better implement the tail wing anti-pinch control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above tail wing anti-pinch control method. The meanings of the terms are the same as those in the above tail wing anti-pinch control method, and the specific implementation details can refer to the description in the method embodiment.

[0125] For example, Fig. 9 As shown, the tail anti-pinch control device may include an operation parameter acquisition module 201, a target operation range determination module 202 and an anti-pinch control module 203, which are specifically as follows:

[0126] An operating parameter acquisition module 201 is used to acquire operating parameters of the tail;

[0127] The target operation interval determination module 202 is used to determine the target operation interval in which the tail is currently located from a plurality of operation intervals for the tail during the descending operation of the tail;

[0128] The anti-pinch control module 203 is used to determine whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating range.

[0129] In one embodiment of the present application, the operating range at least includes a first operating range and a second operating range, and the travel of the tail wing in the first operating range is before the travel of the tail wing in the second operating range.

[0130] In one embodiment of the present application, the travel of the tail wing in the first operating range is longer than the travel of the tail wing in the second operating range.

[0131] In one embodiment of the present application, the operating parameters include current and motor speed, and the target operating range is the first operating range.

[0132] Based on this, the anti-pinch control module 203 includes:

[0133] A first judgment submodule, used to determine whether the change in current meets a first anti-pinch judgment condition;

[0134] and, a second judgment submodule, for determining whether the current and / or the motor speed meets a second anti-pinch judgment condition;

[0135] The first trigger submodule is used to determine to trigger the anti-pinch function if both the first anti-pinch judgment condition and the second anti-pinch judgment condition are met.

[0136] In one embodiment of the present application, the first anti-pinch judgment condition includes that the duration of the current being greater than the current threshold is not less than a first preset duration.

[0137] In one embodiment of the present application, the current threshold is determined based on the anti-pinch force value.

[0138] In one embodiment of the present application, the second anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the first current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the first speed change threshold.

[0139] In one embodiment of the present application, the second determination submodule includes:

[0140] The second judgment unit is used to determine whether the current and / or the motor speed meets the second anti-pinch judgment condition when the change of the current meets the first anti-pinch judgment condition.

[0141] In one embodiment of the present application, the operating parameters include current and motor speed, and the target operating range is the second operating range.

[0142] Based on this, the anti-pinch control module 203 includes:

[0143] A third judgment submodule, used to determine whether the current and / or the motor speed meets a third anti-pinch judgment condition;

[0144] The second trigger submodule is used to determine to trigger the anti-pinch function if the third anti-pinch judgment condition is met.

[0145] In one embodiment of the present application, the third anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the second current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the second speed change threshold.

[0146] In one embodiment of the present application, the above-mentioned operating parameters include current and motor speed.

[0147] Based on this, the above-mentioned tail wing anti-pinch control device also includes:

[0148] The third trigger submodule is used to trigger the anti-pinch function during the descent operation of the tail wing if the motor speed is less than the speed threshold and the duration of the current not being 0 is not less than a second preset duration.

[0149] In one embodiment of the present application, the target operation range determination module 202 includes:

[0150] The target operation interval determination submodule is used to determine the current target operation interval of the tail wing based on the current operation position of the tail wing and the position ranges corresponding to the multiple operation intervals of the tail wing during the descent operation of the tail wing.

[0151] In one embodiment of the present application, the anti-pinch function is used to control the tail wing to perform a stop action or a reverse action.

[0152] It can be seen that the tail anti-pinch control device provided in the embodiment of the present application obtains the operating parameters of the tail through the operating parameter acquisition module 201; the target operating interval determination module 202 determines the target operating interval in which the tail is currently located from multiple operating intervals for the tail during the descent operation of the tail; the anti-pinch control module 203 determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. By dividing the travel range of the tail descent operation process into multiple operating intervals, and setting the anti-pinch judgment conditions corresponding to each operating interval, the sensitivity of triggering the anti-pinch function in the operating interval is adjusted, so that in combination with the operating parameters of the tail and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail descent operation process and improving the user experience.

[0153] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0154] The present application also provides a controller, such as Fig.10 As shown, it shows a schematic diagram of the structure of the controller involved in the embodiment of the present application, specifically:

[0155] The controller may include one or more processing core processors 301, one or more storage media memories 302, a power supply 303, an input unit 304 and other components. Those skilled in the art will appreciate that Fig.10 The controller structure shown in the figure does not constitute a limitation on the controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0156] The processor 301 is the control center of the controller, and uses various interfaces and lines to connect various parts of the entire controller. It executes various functions of the controller and processes data by running or executing computer programs and / or modules stored in the memory 302, and calling data stored in the memory 302. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 301.

[0157] The memory 302 can be used to store computer programs and modules. The processor 301 executes various functional applications and tail anti-pinch control by running the computer programs and modules stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function (such as an audio and light prompt function, an anti-pinch function, etc.), etc.; the data storage area can store data created according to the use of the controller, etc. In addition, the memory 302 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 302 can also include a memory controller to provide the processor 301 with access to the memory 302.

[0158] The controller also includes a power supply 303 for supplying power to each component. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 303 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0159] The controller may further include an input unit 304, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0160] Although not shown, the controller may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 301 in the controller will load the executable files corresponding to the processes of one or more computer programs into the memory 302 according to the following instructions, and the processor 301 will run the computer programs stored in the memory 302, thereby realizing various functions, such as:

[0161] Get the operating parameters of the tail;

[0162] During the descent operation of the tail wing, determining a target operation interval in which the tail wing is currently located from a plurality of operation intervals for the tail wing;

[0163] Determine whether to trigger the anti-pinch function based on the anti-pinch judgment conditions and operating parameters corresponding to the target operating range.

[0164] It can be seen that the controller provided in the embodiment of the present application obtains the operating parameters of the tail wing; during the descent operation of the tail wing, determines the target operating interval in which the tail wing is currently located from multiple operating intervals for the tail wing; and determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. By dividing the travel range of the tail wing's descent operation process into multiple operating intervals, and setting the anti-pinch judgment conditions corresponding to each operating interval, the sensitivity of triggering the anti-pinch function in the operating interval is adjusted, so that in combination with the operating parameters of the tail wing and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail wing during the descent operation and improving the user experience.

[0165] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the rear wing anti-pinch control method above, which will not be elaborated here.

[0166] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0167] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any of the rear wing anti-pinch control methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0168] Get the operating parameters of the tail;

[0169] During the descent operation of the tail wing, determining a target operation interval in which the tail wing is currently located from a plurality of operation intervals for the tail wing;

[0170] Determine whether to trigger the anti-pinch function based on the anti-pinch judgment conditions and operating parameters corresponding to the target operating range.

[0171] It can be seen that the storage medium provided in the embodiment of the present application obtains the operating parameters of the tail wing; during the descent operation of the tail wing, determines the target operating interval in which the tail wing is currently located from multiple operating intervals for the tail wing; and determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating interval. By dividing the travel range of the tail wing's descent operation process into multiple operating intervals, and setting the anti-pinch judgment conditions corresponding to each operating interval, the sensitivity of triggering the anti-pinch function in the operating interval is adjusted, so that in combination with the operating parameters of the tail wing and the anti-pinch judgment conditions of each operating interval, the anti-pinch function triggering capability with different sensitivities can be achieved in different operating intervals, thereby improving the accuracy of triggering the anti-pinch function, while improving the safety of the tail wing during the descent operation and improving the user experience.

[0172] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0173] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0174] Since the computer program stored in the storage medium can execute the steps in any one of the tail wing anti-pinch control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the tail wing anti-pinch control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0175] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned tail anti-pinch control method.

[0176] The embodiment of the present application also provides a vehicle, which includes the above-mentioned tail wing anti-pinch control device, or the above-mentioned controller, or the above-mentioned computer program product. Alternatively, the vehicle includes a tail wing and a controller, and the controller controls the above-mentioned tail wing by executing the above-mentioned tail wing anti-pinch control method. For example, the controller obtains the operating parameters of the tail wing; during the descent operation of the tail wing, determines the target operating range in which the tail wing is currently located from multiple operating ranges for the tail wing; and determines whether to trigger the anti-pinch function according to the anti-pinch judgment conditions and operating parameters corresponding to the target operating range.

[0177] The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above operations of the controller are also applicable to the vehicle, and the details can be found in the detailed description of the rear wing anti-pinch control method above, which will not be repeated here.

[0178] The above is a detailed introduction to a tail wing anti-pinch control method, device, controller, storage medium, computer program product and vehicle provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A tail wing anti-pinch control method, characterized in that: The method comprises: Get the operating parameters of the tail; During the descent operation of the tail wing, determining a target operation interval in which the tail wing is currently located from a plurality of operation intervals for the tail wing; Whether to trigger the anti-pinch function is determined according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters.

2. The tail wing anti-pinch control method according to claim 1, characterized in that: The operation range includes at least a first operation range and a second operation range, and the travel of the tail wing in the first operation range is before the travel of the tail wing in the second operation range.

3. The tail wing anti-pinch control method according to claim 2, characterized in that: The stroke of the tail wing in the first operating range is longer than the stroke of the tail wing in the second operating range.

4. The tail wing anti-pinch control method according to claim 2, characterized in that: The operating parameters include current and motor speed, the target operating range is the first operating range, and determining whether to trigger the anti-pinch function according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters includes: Determining whether the change in the current satisfies a first anti-pinch judgment condition; and determining whether the current and / or the motor speed meets a second anti-pinch judgment condition; If both the first anti-pinch judgment condition and the second anti-pinch judgment condition are met, it is determined that the anti-pinch function is triggered.

5. The tail wing anti-pinch control method according to claim 4, characterized in that: The first anti-pinch judgment condition includes that the duration of the current being greater than the current threshold is not less than a first preset duration.

6. The tail wing anti-pinch control method according to claim 5, characterized in that: The current threshold is determined based on the anti-pinch force value.

7. The tail wing anti-pinch control method according to claim 4, characterized in that: The second anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the first current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the first speed change threshold.

8. The tail wing anti-pinch control method according to claim 4, characterized in that: The determining whether the current and / or the motor speed meets the second anti-pinch judgment condition includes: In the case where the change in the current satisfies the first anti-pinch judgment condition, it is determined whether the current and / or the motor speed satisfies a second anti-pinch judgment condition.

9. The tail wing anti-pinch control method according to claim 2, characterized in that: The operating parameters include current and motor speed, the target operating range is the second operating range, and determining whether to trigger the anti-pinch function according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters includes: Determining whether the current and / or the motor speed meets a third anti-pinch judgment condition; If the third anti-pinch judgment condition is met, it is determined that the anti-pinch function is triggered.

10. The rear wing anti-pinch control method according to claim 9, characterized in that: The third anti-pinch judgment condition includes: the current change between the currents obtained at adjacent moments is greater than the second current change threshold, and the speed change of the motor speed obtained at adjacent moments is greater than the second speed change threshold.

11. The rear wing anti-pinch control method according to claim 1, characterized in that: The operating parameters include current and motor speed, and the method further includes: During the descending operation of the tail wing, if the motor speed is less than the speed threshold and the duration for which the current is not zero is not less than a second preset duration, the anti-pinch function is triggered.

12. The rear wing anti-pinch control method according to any one of claims 1 to 11, characterized in that: During the descent operation of the tail wing, determining the target operation interval in which the tail wing is currently located from a plurality of operation intervals for the tail wing includes: During the descent operation of the tail wing, the target operation interval of the tail wing is determined based on the current operation position of the tail wing and the position ranges corresponding to the multiple operation intervals of the tail wing.

13. The rear wing anti-pinch control method according to any one of claims 1 to 11, characterized in that: The anti-pinch function is used to control the tail wing to perform a stop action or a reverse action.

14. A tail wing anti-pinch control device, characterized in that: The device comprises: An operating parameter acquisition module is used to obtain operating parameters of the tail; a target operation interval determination module, configured to determine, during the descent operation of the tail wing, from a plurality of operation intervals for the tail wing, a target operation interval in which the tail wing is currently located; The anti-pinch control module is used to determine whether to trigger the anti-pinch function according to the anti-pinch judgment condition corresponding to the target operating range and the operating parameters.

15. A controller, characterized in that: The invention comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the rear wing anti-pinch control method according to any one of claims 1 to 13.

16. A storage medium, characterized in that: The invention comprises a computer program, and when the computer program is run on a controller, the computer program is used to make the controller execute the steps of the tail wing anti-pinch control method according to any one of claims 1 to 13.

17. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the tail wing anti-pinch control method according to any one of claims 1 to 13.

18. A vehicle, characterized in that: The vehicle comprises a rear wing and a controller, wherein the controller controls the rear wing by executing the rear wing anti-pinch control method according to any one of claims 1 to 13.

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